//
// Created by JYL on 2024-06-17.
//

#ifndef WHEELTEC_FILTER_TASK_H
#define WHEELTEC_FILTER_TASK_H

#include "main.h"

typedef struct {
    float Angle_Balance;    // 平衡倾角
    float Gyro_Balance;     // 平衡陀螺仪
    float Gyro_Turn;        // 转向陀螺仪
    float Acceleration_Z;   //Z轴加速度计
}MPU6050;
extern MPU6050 mpu6050;
extern short Accel_Y,Accel_Z,Accel_X,Gyro_X,Gyro_Z,Gyro_Y;

void Get_Angle(uint8_t way);

#endif //WHEELTEC_FILTER_TASK_H
